Version 4.22 [27. Jun 2016]

VFP register handling is now automatically performed by embOS.
embOS API functions OS_ExtendTaskContext_VFP(), OS_VFP_Save(), OS_VFP_Restore(), and OS_ExtendTaskContext_TLS_VFP() are deprecated. Compatibility with older embOS versions is ensured through macro definitions.

Board support package for the Segger emPower evalboard added.

Improvements

Additional debug check added to detect tasks that end without termination.

Program corrections

Applied workaround for interrupt handling with Cortex-M7 r0p1.
Erratum 837070, ARM-EPM-064408: Increasing priority using a write to BASEPRI does not take effect immediately. An appropriate workaround was applied.
The problem, which is exclusive for Cortex-M7 r0p1, existed on all previous versions of embOS for Cortex-M and Keil ARM MDK and is fixed with version 4.22.

Version 4.16 [10. Mar 2016]

New Features

Update to latest embOS generic sources V4.16.

Added Segger Real-Time Transfer (RTT) to all projects.
Additional information on Segger RTT is available at www.segger.com.

Added Segger SystemView to all projects.
The Segger SystemView User Guide is available at www.segger.com.

Improvements

Improved HardFault Handler added to all projects.

Version 4.12 [24. Aug 2015]

New Features

Update to latest embOS generic sources V4.12.

Version 4.10b [10. Aug 2015]

New Features

Update to latest embOS generic sources V4.10b.

Program corrections

Task switch fixed.
The fix introduced with V4.06b did not work correctly for Cortex M0/M3/M4.
This issue does not affect Cortex M4F.
The problem existed version 4.06b and is fixed with V4.10b.

Version 4.06b [14. Apr 2015]

New Features

Update to latest embOS generic sources V4.06b.

Program corrections

Task switch fixed.
A problem with the task switch could cause that a task was not activated at once when it was triggered by an interrupt.
The problem existed on all previous versions of embOS Cortex M Keil MDK and is fixed with version 4.06b.

Version 4.04a [09. Dec 2014]

New Features

Update to latest embOS generic sources V4.04a.

Program corrections

OS_LeaveNestableInterrupt() fixed.
A problem with OS_LeaveNestableInterrupt() could cause that a task switch which was triggered by an interrupt routine which
interrupted another interrupt routine was not executed.
The problem existed on all previous versions of embOS Cortex M Keil MDK and is fixed with version 4.04a.

Version 3.88h [20. Dec 2013]

New Features

Update to latest embOS generic sources V3.88h.

Version 3.88g [17. Dec 2013]

New Features

Update to latest embOS generic sources V3.88g.

Board support package for the STMicro STM32F429-Discovery board added.

Version 3.88c [15. Aug 2013]

New Features

Update to latest embOS generic sources V3.88c.

Board support package for the IAR STM32F051R8 Starter Kit added.

Program corrections

Scheduling fixed.
A problem with the scheduler could cause that a task not in ready state was not suspended and continued running.
Higher priority tasks were blocked even when they were ready to execute.
The problem existed on all previous versions of embOS Cortex M KEIL MDK and is fixed with version 3.88b.

OS_Start() fixed.
A problem with OS_Start() could cause that embOS did not start.
The problem existed on all previous versions of embOS Cortex M KEIL MDK and is fixed with version 3.88c.

Version 3.82v [15. Jul 2011]

New Features

embOS Cortex M Keil now also supports Cortex M4.

Support for Freescale Kinetis added.
The embOS version 3.82s for Keil compiler and Cortex-M now comes with start projects for the Freescale Kinetis K40 and K60 CPUs.
The sample projects run on the Kinetis TWR starter kit boards and can be downloaded into the CPUs Flash using J-Link.

Update to latest embOS generic sources V3.82s

Improvements

Retarget.c file added.
The retarget.c file contains functions which allow terminal I/O in a debug session using the uVision and JTAG debugger like J-Link.

Version 3.82q [21. Jan 2011]

New Features

embOS Cortex M Keil now also supports Cortex M0.

Update to latest embOS generic sources V3.82q.

Version 3.82h [31. May 2010]

New Features

Update to embOS sources 3.82h

Fully CMSIS compliant projects
All start projects of embOS for Cortex-M3 are now fully CMSIS compliant.
The projects come with new startup code and vector tables which are fully CMSIS compliant.
When CMSIS shall be used for the application, the chip specific CMSIS startup code and vector tables can be used.
CMSIS libraries of the chip vendor are not required to run embOS, embOS can be used as is.

Generic CMSIS project template
embOS for Cortex M3 now comes with a generic CMSIS compatible start project which runs on any Cortex M3 CPU.
To run the project on a specific chip, the startup code and the vector table may be replaced by the chip vendor specific versions of these files.
No modification on any embOS function or file is required. The vendor specific CMSIS files will guarantee that the embOS timer runs at expected rate of 1ms.

Version 3.82e [07. February 2010]

New Features

Update to latest embOS generic sources V3.82e.

Version 3.60d [05. June 2008]

New Features

Update to latest embOS generic sources V3.60d.

BSP for IAR STM-SK Eval board renamed to STM32F103_STM_SK.
BSP is now for IAR STM-SK only instead of IAR STM-SK and ST MB525.

Version 3.60c [30. May 2008]

New Features

Update to latest embOS generic sources V3.60c.

Start project for STM32.

Improvements

OS_ASSERT_INIT_CALLED()
A new assertion is added which checks whether OS_InitKern() was called before tasks are created.
In debug builds, the OS_Error() function will be called, if tasks are created before calling OS_InitKern().

OS_GetTaskName() modified.
In previous versions, OS_GetTaskName() had to be called with a valid task ID. Now, the NULL pointer may be passed as argument to address the current task.
The function will always return a valid string.
The previous implementation might have returned a NULL pointer, which could cause problems, if the result was not evaluated be the calling function.

Version 3.60b

Improvements

OS_ASSERT_ISR_LEVEL()
A new assertion was defined which will call OS_Error() if the CPU runs in interrupt mode but OS_EnterInterrupt() or OS_EnterNestableInterrupt() was not called.
With version 3.60b the assertion is not implemented, it is just defined and usage is prepared. The implementation will be made in future versions of embOS.

Version 3.60a

New Features

embOS trial versions may run an unlimited number of tasks.
The embOS trial versions run unlimited as long as only 3 tasks are created.
Since version 3.60a, a time limit is added to the trial version. During the first 15 minutes, an unlimited number of tasks can be created.
If more than three tasks were created during the time limit time, the system stops and calls OS_Error() when the time limit exceeded.

Version 3.60

New Features

OS_AddTickHook() and OS_RemoveTickHook() implemented.
These new functions allow the application to add and remove user function calls (hook functions) to the OS timer tick handler.

Improvements

OS_GetVersion() implemented as function
OS_GetVersion() may be used by the application to retrieve the embOS library version. The result may be used to verify whether the library version matches the embOS header file RTOS.h.

Version 3.52e

Improvements

All embOS variables located in one module.
All embOS variables are located in one module now. In previous versions of embOS, some module specific embOS variables were located in the module they were used for.

Version 3.52c

New Features

OS_SetTaskName() introduced
OS_SetTaskName() allows modification of task names on the fly.
This may be useful if the functionality of a task changes during runtime and the new state should be shown using embOSView or an other task visualisation tool.

Version 3.52b

Program corrections

OS_SendString() corrected.
When sending an empty string, the calling task was suspended forever.
The problem existed in all previous embOS versions and is fixed with version 3.52b.

embOSView corrected.
When the update interval of embOSView was set to 200ms or a longer value, the reaction of user input or mouse events was blocked for the same time.
The problem existed since version 3.32 of embOSView and is fixed with version 3.52b.

Version 3.52a

Program corrections

OS_Terminate() for XR-build corrected.
OS_Terminate() in XR-builds might have failed and the system stuck in an endless loop.
All other library modes were not affected.

Version 3.52

New Features

OS_CallISR() and OS_CallNestableISR() introduced
These new functions are required for some specific CPUs, but may be used in general to call an interrupt handler function without the need of using OS_EnterInterrupt() / OS_LeaveInterrupt() in the handler function.

Improvements

OS_TickHandler() and OS_TickHandler_Ex() removed.
These two functions are obsolete, because they can be replaced by OS_HandleTick() and OS_HandleTick_EX(), if OS_EnterInterrupt() / OS_LeaveInterrupt is used in the interrupt handler.

Version 3.50c

Improvements

OS_GetTime32() optimized for 32bit CPUs
For 32bit CPUs, OS_GetTime32() is now automatically replaced by an efficient macro which delivers value of the embOS internal time variable.
In previous versions of embOS, a function was called, when it was not over-written in the CPU specific part of the OS header file.

Version 3.50b

New Features

New library mode XR allows extremely compact applications
The new XR libraries may be used to build extremely compact applications to save space in RAM and ROM and speed up context switching time.
The XR embOS libraries are compiled with round robin scheduling disabled and task names disabled, which results in smaller data structures, smaller code size and faster context switching time.

Improvements

Internal optimizations
Some internal optimizations were performed to optimize task switching time and interrupt latencies.

Version 3.50a

Program corrections

System stack check corrected
The system stack check failed in the case the system stack grows from lower addresses to higher addresses.
In this case, the system stack was not correctly filled with the stack check pattern.
The problem existed for embOS for PIC only and is fixed with version 3.50a.

Version 3.50

Improvements

Scheduler optimized
The embOS scheduler was optimized to reduce task switching time and interrupt latencies.

Version 3.40d

Improvements

OS_Yield() now writes an entry into the trace buffer
When using the debug library with trace capabilities, OS_Yield() writes an entry into the trace buffer which shows the function call and the calling task.
embOSView version 3.40d is required to show this entry.

Program corrections

OS_Suspend() corrected
When using the debug library with trace capabilities, a call of OS_Suspend() wrote a wrong trace code into the trace buffer.
Instead of writing the code for task suspension, the code for task termination was written.
The function itself worked correctly, only the data written into the trace buffer was wrong.
The problem existed in all previous embOS versions and is fixed with version 3.40d.

Version 3.40c

New Features

OS_Yield() may suspend a task unconditionally
When tasks are running on round robin with timeslice, the function OS_Yield() can be used to end the timeslice of the running task immediately and activate an other task with the same priority which is ready for execution.
The function has no effect on tasks that are not running on round robin.

Version 3.40b

Improvements

Queue management improved.
For some CPUs, the buffer start address for Queues has to be aligned.
Now embOS automatically corrects the alignment, if required.

Version 3.40a

Improvements

Counting semaphores improved.
The counters of counting semaphores are now integer values.
Error handling is also improved. When a counting semaphore overflows, the embOS error handler OS_Error() is called in debug builds.

Version 3.40 [25. May 2007]

New Features

Task switch time can be measured by application
embOS now comes with sample applications which allow accurate measurement of task switch time in a running application.

Interrupt latency improved.
During task switch, the time period when interrupts are disabled is reduced.

embOS timer tick handler improved.
The standard timer tick handler run faster now. The embOS internal time variable is incremented by 1 on every timer tick.
When different increments are required, the new timer tick handler OS_HandleTick_Ex(), OS_TickHandler_Ex() or OS_HandleTickDI_Ex() have to be used by application.
Different inctrements may be configured by a call of OS_CONFIG().

Version 3.32o

New Features

Automatic call of OS_INIT_SYS_LOCKS() removed.
During initialization of embOS, OS_INIT_SYS_LOCK() is not called automatically.
As most of the applications do not need thread safe system libraries, an automatic activation of syslocks causes unwanted overhead.
If supported and required, the user may call OS_INIT_SYS_LOCKS() from his own application after normal initialization of embOS.

Program corrections

OS_Unuse() corrected
OS_Unuse() must not be called from a task that does not claim the resource semaphore.
According to the documentation, the debug build of embOS should generate a call to OS_Error() if this fault happens.
All previous versions of embOS did not call OS_Error().
Now, OS_Error() will be called in that situation with error code 156: OS_ERR_RESOURCE_OWNER().

Version 3.32m

New Features

OS_TimerEx, Extended timer implemented
Extended timers are software timers which call a user defined callback function when the timer expires.
In comparison to normal embOS timers, a parameter is passed to the timer callback function.
The parameter value is initialized during timer creation.

Version 3.32l

Program corrections

OS_EVENT_Delete() corrected
OS_EVENT_Delete() did not work correctly. OS_LeaveRegion() was called inside the function without calling OS_EnterRegion() bfore.
In debug builds of embOS, the error handler OS_Error() was called with error 151 (OS_ERR_LEAVEREGION_BEFORE_ENTERREGION).
In release builds the system was blocked because the underflow of region count inhibts all further task switches, or system crashes, because incrementing the region count the next time allows task switches instead of blocking them.
The problem existed in all previous versions and is fixed with version 3.32l.

Round-robin task switching corrected.
Round robin task switching did not work correctly in previous version. A task which was blocked for some reason could be activated. The system crashed during task switch.
The problem existed since version 3.32j and is fixed with version 3.32l.

Version 3.32k

Program corrections

Handler function _OS_OnTx() for serial communication to embOSView corrected.
The transmission handler for communication with embOSView might have sent incorrect data to embOSView, because internal control state was updated after sending the data.
The problem occurred on a new embOS port for a specific CPU only and is fixed with version 3.32k.

Version 3.32j

New Features

OS_CSemaRequest implemented
May be used to decrement a counting semaphore conditionally, if a signal is available.
The function never blocks the calling task and delivers a result which indicates whether the semaphore was available.

Version 3.32i

Improvements

Task switch to OS_Idle() modified.
The call of OS_Idle() from OS_ChangeTask can be overwritten (inhibited) by defining the macro OS_IDLE() which is norammly defined as OS_Idle().
This allows task switching via an exception for specific CPU/compiler versions.

Version 3.32h

Program corrections

OS_Error() was required in release build when resource semaphores were used.
When using release build libraries and resource semaphores, the embOS error handler OS_Error() was required and the file OS_Error.c had to be compiled and linked in a project.
The problem existed since version 3.28i of embOS and is fixed with version 3.32h.